Method and device for calibrating a vehicle camera of a vehicle

ABSTRACT

A method for calibrating a vehicle camera of a vehicle includes at least one task of reading in and one task of setting. In the reading in, at least one first camera image and one second camera image are read in, which represent images recorded by at least the vehicle camera during a camera movement of the vehicle camera at a standstill of the vehicle. In the setting, a calibration parameter for calibrating at least the vehicle camera is set, using the first camera image and the second camera image.

RELATED APPLICATION INFORMATION

The present application claims priority to and the benefit of Germanpatent application no. 10 2017 206 295.9, which was filed in Germany onApr. 12, 2017, the disclosure which is incorporated herein by reference.

FIELD OF THE INVENTION

The approach is directed to a device and/or to a method according to thedescriptions herein. The present approach also relates to a computerprogram.

BACKGROUND INFORMATION

Other motor vehicle video surround view systems, i.e., vehiclesurroundings monitoring systems, utilize four or more cameras to detectimmediate surroundings of a vehicle. For the intuitive assessment of thesituation by a driver in the vehicle, individual images of the cameraare combined into an overall view. Due to the fact that the cameras arefixedly installed on the vehicle, usually a static rule about thegeometric relationships of the individual images to one another isstored in the vehicle surround view system, VSV system for short; thisprocess is also referred to as extrinsic calibration. This rule isascertained within the scope of an end-of-line calibration or only fromthe design data of the vehicle and of the cameras. According to therelated art, possibly occurring changes in the calibration are correctedwith the aid of a so-called online calibration. Since each individualsurround view camera is to be considered a monocamera, and it is thuspossible to calculate three-dimensional surroundings models necessaryfor a calibration only via a camera movement, the correction, i.e., theonline calibration, usually takes place by moving the vehicle in thenormal driving operation at sporadic time intervals.

Patent document DE 10 2008 259 551 A1, for example, discusses a methodfor ascertaining a positional change of a camera system with the aid ofa first and a second image of a camera.

SUMMARY OF THE INVENTION

Against this background, the approach described here introduces a methodfor calibrating a camera of a vehicle, furthermore a device which usesthis method, and finally a corresponding computer program as describedherein. The measures listed in the further descriptions herein allowadvantageous refinements of and improvements on the method describedherein.

The advantages achievable by the described approach are that a correctcalibration of the vehicle cameras is enabled already prior to thevehicle driving off, instead of during a driving operation of a vehicle.This is in particular important since especially when driving off, forexample when unparking from a parking space, a correct representation ofvehicle surroundings in an overall view of the individual vehicle cameraimages is necessary for the driver, for example to be able to correctlyestimate distances.

A method for calibrating a camera of a vehicle is described. The methodincludes at least one step of reading in and one step of setting. In thestep of reading in, at least one first camera image and one secondcamera image are read in, which represent images recorded by at leastthe vehicle camera during a camera movement of the vehicle camera at astandstill of the vehicle. These camera images may be read in, forexample, in the form of one or multiple signals read in by an interfaceto the vehicle camera. In the step of setting, a calibration parameterfor calibrating at least the vehicle camera is set, using the firstcamera image and the second camera image. The vehicle camera may be setwith respect to the vehicle and a dedicated camera position.

The method may include a step of determining the camera movement. Thismay take place, for example, by evaluating a signal of an accelerationsensor or by evaluating the camera images provided by the camera.

This method may be implemented in software or hardware or in a mixedform made up of software and hardware, for example in a control unit.

To render the standstill of the vehicle apparent, the method may includea step of further reading in, in which a vehicle movement signal is readin, which indicates or represents the standstill of the vehicle. Astandstill may be understood to mean a speed of the vehicle ofessentially 0 km/h. The step of setting may then be carried out inresponse to the step of reading in and the step of further reading in.

The method described here may advantageously include a step ofdetermining, in which a flux vector is determined using the first cameraimage and the second camera image, it being possible in the step ofsetting to set the calibration parameter using the flux vector.

When the method additionally includes a step of receiving, in which apredetermined reference vector is received, and a step of comparing, inwhich the flux vector is compared to the reference vector, according toone advantageous specific embodiment of the method described here thecalibration parameter may be set in the step of setting, using acomparison result of the step of comparing. The reference vector may bea vector which was determined corresponding to the flux vector, howeverwith an empty or unloaded vehicle. Since an immersion depth of the shockabsorbers, and thus also a position of the vehicle cameras with respectto the roadway surface, changes when the vehicle is loaded with goodsand/or persons, for example, it is possible that an existing extrinsiccalibration of the vehicle camera or of the camera system is no longervalid, and thus a re-calibration should be carried out. Whether theexisting calibration is valid may advantageously be established by thedescribed step of comparing. Corresponding to the resulting comparisonresult, the calibration parameter may then be set, for example, when theflux vector does not agree with the reference vector, since such adeviation indicates that the vehicle camera is not correctly calibrated,i.e., is decalibrated.

In the step of determining, the flux vector may be determined, forexample, using a road surface spot depicted in the first camera imageand the road surface spot depicted in the second camera image. Bycomparing or superimposing the two camera images, which each depict thesame road surface spot, the flux vector is quickly and easilydeterminable.

In the step of reading in, camera images may be read in which representimages recorded by the vehicle camera situated in the area of anexterior mirror and/or a vehicle door and/or a tailgate of the vehicle.Arrangements of vehicle cameras described here are typical and usefulfor vehicle surroundings monitoring systems. Since also their camerapositions on the vehicle are known, their possible camera movements arealso predictable. During an opening of the vehicle door, for example avehicle camera attached to the vehicle door moves along a defineddisplacement path. The same applies to a vehicle camera situated on anexterior mirror or on a tailgate. In this way defined vehicle cameramovements are possible with a stopped vehicle.

Thus it is advantageous when, in the step of reading in, the cameramovement represents a displacement path of at least the vehicle cameracaused by folding in and/or folding out an exterior mirror of thevehicle and/or by opening and/or closing a vehicle door and/or byopening and/or closing a tailgate of the vehicle. This is useful sincesuch a displacement path is known from design data of the vehicle, andthus precise knowledge of the plane estimation is also available for theunloaded vehicle.

To ascertain the displacement path representing the camera movement, themethod, however, may also include a step of ascertaining, in which thedisplacement path representing the camera movement is ascertained, usingan actuating signal of an adjusting motor for effectuating the cameramovement.

Since carrying out a method described here is useful, in particular,when the vehicle is standing up straight, it is advantageous when themethod includes a step of further receiving, in which an inclinationsignal from an interface to an inclination sensor of the vehicle isreceived, the step of setting not being carried out when the inclinationsignal indicates an inclination of the vehicle. The inclination mayrepresent a non-horizontal visual range of at least the vehicle camerato the vehicle.

The approach described here furthermore creates a device which isconfigured to carry out, activate or implement the steps of one variantof a method described here in corresponding units. The object underlyingthe approach may also be achieved quickly and efficiently by thisembodiment variant of the approach in the form of a device.

For this purpose, the device may include at least one processing unitfor processing signals or data, at least one memory unit for storingsignals or data, at least one interface to a sensor or an actuator forreading in sensor signals from the sensor or for outputting data signalsor control signals to the actuator and/or at least one communicationinterface for reading in or outputting data which are embedded into acommunication protocol. The processing unit may be a signal processor, amicrocontroller or the like, for example, it being possible for thememory unit to be a Flash memory, an EPROM or a magnetic memory unit.The communication interface may be configured to read in or output datawirelessly and/or in a wire-bound manner, a communication interfacewhich is able to read in or output wire-bound data being able to readthese data in, for example electrically or optically, from acorresponding data transmission line or output these into acorresponding data transmission line.

A device may presently be understood to mean an electrical device whichprocesses sensor signals and outputs control and/or data signals as afunction thereof. The device may include an interface which may beconfigured as hardware and/or software. In the case of a hardwaredesign, the interfaces may, for example, be part of a so-called systemASIC which includes a wide variety of functions of the device. However,it is also possible for the interfaces to be separate integratedcircuits, or to be at least partially made up of discrete elements. Inthe case of a software design, the interfaces may be software moduleswhich are present on a microcontroller, for example, in addition toother software modules.

In one advantageous embodiment, the device sets a calibration parameterfor calibrating at least one camera of a vehicle. For this purpose, thedevice may access sensor signals, for example, which represent at leastone first camera image and one second camera image, and optionally alsoa vehicle movement signal. The activation takes place with the aid ofactuators, such as at least one read-in unit for reading in at least thefirst camera image and the second camera image, and a setting unit forsetting the calibration parameter.

In addition, a computer program product or computer program isadvantageous, having program code which may be stored on amachine-readable carrier or storage medium such as a semiconductormemory, a hard disk memory or an optical memory, and which is used tocarry out, implement and/or activate the steps of the method accordingto one of the specific embodiments described above, in particular if theprogram product or program is executed on a computer or a device.

Exemplary embodiments of the approach described here are shown in thedrawings and are described in greater detail in the followingdescription.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a schematic top view onto a vehicle including a multitudeof decalibrated vehicle cameras.

FIG. 2 shows a schematic view of a displacement path of a vehicle cameraon a side door of a vehicle.

FIG. 3 shows a schematic top view onto a vehicle including a device forcalibrating a vehicle camera according to one exemplary embodiment.

FIG. 4 shows a flow chart of a method for calibrating a camera of avehicle according to one exemplary embodiment.

FIG. 5 shows a functional block diagram of a device for calibrating acamera of a vehicle according to one exemplary embodiment.

DETAILED DESCRIPTION

In the following description of favorable exemplary embodiments of thepresent approach, identical or similar reference numerals are used forsimilarly acting elements shown in the different figures, and a repeateddescription of these elements is dispensed with.

FIG. 1 shows a schematic top view onto a vehicle 100 including amultitude of decalibrated vehicle cameras 105.

Vehicle 100 shown here is at a standstill and has been loaded with goodsand/or persons, whereby an immersion depth of shock absorbers of vehicle100, and thus a position of vehicle cameras 105 with respect to theroadway surface has changed compared to a position of vehicle cameras105 with respect to the roadway surface in an unloaded state of vehicle100. In this way, an existing extrinsic calibration of the camera systemof individual vehicle cameras 105 is no longer valid, and are-calibration would be necessary. Since vehicle surroundings monitoringsystems are usually used in particular for parking assistance, anunparking process after the change in load would take place with anincorrect calibration, and thus also with an unsuitable surround viewrepresentation of the vehicle surroundings. The incorrect calibration isshown in FIG. 1 in particular in spots 110, 115 in which individualimages of vehicle cameras 105 are combined, or “stitched.” As a result,parking lines and curbs do not match during the transition from oneimage to an adjoining image.

Markings 117 show camera visual ranges of front camera 105 and of rearcamera 105 of vehicle 100.

Spots 110 marked in the area of the rear of vehicle 100 show lines whichdo not extend in parallel to vehicle 100. Lines from a front cameraimage do not exactly match lines in the side camera image. Thisdeviation was created by vehicle cameras 105 being decalibrated uponloading of vehicle 100.

Spots 115 marked in the area of the front of vehicle 100 show bends inthe progression of straight lines. Lines from the front camera image donot exactly match lines in the side camera image. This deviation wascreated by vehicle cameras 105 being decalibrated due to maladjustment.

As a result of device 105 shown in FIG. 3, a correction of thecalibration corresponding to the change in load may advantageouslyalready be carried out at a standstill of vehicle 100, instead of asvehicle 100 is clearly driving, as is the case with known devices. Oneadvantage is that a correct calibration is ensured prior to starting todrive.

FIG. 2 shows a schematic view of a displacement path 200 of a vehiclecamera 105 on a side door 205 of a vehicle 100. This may be vehicle 100including vehicle cameras 105 described based on FIG. 1.

As was already addressed in FIG. 1, in known vehicle surroundingsmonitoring systems, vehicle cameras 105 are initially intrinsically, andthen extrinsically, calibrated with respect to one another one time atthe factory. While vehicle 100 is driving, later an online calibrationof the system, i.e., a correction of the calibration, may take place,which typically assumes a planar surface beneath vehicle 100, and thusis able to compensate for inaccuracies in the installation tolerances ofup to approximately 3°. This kind of online calibration has previouslyonly been possible while vehicle 100 is driving, where previouslysurround view systems were rarely used. However, if a deviation from thecalibration already occurs at a standstill due to the vehicle loading,as with vehicle 100 shown here, the accordingly distorted images ofvehicle cameras 105, as shown in FIG. 1, no longer coincide, and the enduser in vehicle 100 is presented with an accordingly incorrectlytransformed overall image of the surroundings on his or her screen. Thebenefit, in particular during unparking or when driving off slowly, thenno longer exists.

An improvement in the situation at a standstill may be achieved in that,according to an approach described here, the calibration is carried outat a standstill based on moved vehicle cameras 105. The movement ofvehicle cameras 105 is essentially included since both the doors, hereside door 205, and a trunk lid of vehicle 100 are typically alreadymoved prior to starting to drive. As a result of a moving of side door205 shown here, side door vehicle camera 105 shown here, which issituated on side door 205, carries out displacement path 200, whereby avisual range of side door vehicle camera 105 passes over a yaw angle210. The movement of a vehicle camera 105 may be identified byevaluating images of the camera or at least one sensor signal, such asof an acceleration sensor, for example.

FIG. 3 shows a schematic top view onto a vehicle 100 including a device300 for calibrating a vehicle camera 105 according to one exemplaryembodiment. This may be loaded vehicle 100 at a standstill describedbased on the preceding figures, with the difference that vehicle cameras105 of vehicle 100 were correctly calibrated thanks to device 300described here.

For this purpose, device 300 of at least one of vehicle cameras 105 hasread in at least one first camera image 305 of vehicle camera 105 andone second camera image 310 of vehicle camera 105, camera images 305,310 representing images recorded during a camera movement of vehiclecamera 105 at a standstill of vehicle 100. Using first camera image 305and second camera image 310, device 300 has set a calibration parameter315 for calibrating at least vehicle camera 105.

The following features of device 100 are optional:

According to this exemplary embodiment, at least the one vehicle camera105 was calibrated by set calibration parameter 315.

The camera movement according to this exemplary embodiment is thedisplacement path of vehicle camera 105 shown in FIG. 2, which vehiclecamera 105 carried out by an opening and/or a closing of the side dooron which vehicle camera 105 is situated.

According to this exemplary embodiment, device 100 has determined a fluxvector, using first camera image 305 and second camera image 310,calibration parameter 315 having been set using the flux vector. Theflux vector was determined by device 100 using a road surface spotdepicted in first camera image 305 and the road surface spot depicted insecond camera image 310. Moreover, device 100 received a predeterminedreference vector and compared it to the flux vector, whereuponcalibration parameter 315 was set, using a result of this comparison.According to this exemplary embodiment, the displacement path of vehiclecamera 105 representing the camera movement was ascertained by device100, using an actuating signal of an adjusting motor for effectuatingthe camera movement. Moreover, a vehicle movement signal, whichindicates the standstill of vehicle 100, was read in by device 100before calibration parameter 315 was set.

According to one alternative exemplary embodiment, additionally oralternatively device 100 reads in further camera images, which representimages recorded by at least vehicle camera 105 situated in the area ofan exterior mirror and/or of a further vehicle door and/or of a tailgateof vehicle 100, calibration parameter 315 as described above beingadditionally or alternatively set using the further camera images. Inthis alternative exemplary embodiment, the camera movement represents adisplacement path of at least vehicle camera 105 caused by folding inand/or folding out the exterior mirror of vehicle 100 and/or by openingand/or closing the further vehicle door and/or by opening and/or closingthe tailgate of vehicle 100.

Details of device 100 are described again hereafter in different words:

FIG. 3 shows calibrated vehicle cameras 105 after a correction carriedout by device 100 described here. Spots 320 show lines which now extendin parallel to vehicle 100. A seamless transition between lines from arear camera image and lines in the side camera image is apparent here.

Device 100 described here is configured to utilize the movement offoldable side mirrors for the calculation of the calibration. A centralissue here is the fact that the displacement path of the mirrors, doors,and optionally also of the tailgate, is known from design data, and thusprecise knowledge of the plane estimation is available for unloadedvehicle 100. As an alternative to the movement of the tailgate, amovement of a vehicle camera may also be utilized, which automaticallyfolds out or drops down when a reverse gear is engaged. This definedmovement may also be used analogously for folding the side mirrors. Anydeviation from this plane estimation is then identified as an error ofthe calibration and is accordingly corrected. The calibration of thefront camera may be inferred from the data of the side and rear cameras,assuming that vehicle 100 is to be regarded as a “rigid system.”

Device 100 described here is thus configured to additionally utilize theknown movement of folding side mirrors, into which typically the sidecameras of a vehicle surroundings monitoring system are integrated.Having knowledge of a circular path traveled by vehicle cameras 105 inthe mirrors, this circular path having previously been referred to asthe displacement path, advantageously enables the online calibration ata standstill—a comparison between resulting actual circular paths basedon corresponding video sequences and setpoint circular paths based oncorresponding design drawings and swivel joints of the mirrors allowsthe calibration to be derived.

The calibration carried out thanks to device 100 prior to starting todrive thus provides a geometrically correct representation of thesurroundings of vehicle 100, and thus represents an improvement overknown devices.

A function of device 100 may be described as follows, using differentwords: A vehicle surroundings monitoring system, VSV (video surroundview) system for short, shall be assumed. On every individual vehiclecamera 105, which moves as a result of a door opening or the mirrorsfolding in, this inherent movement of vehicle camera 105 allows a planeestimation to be carried out via an optical flux on the textured roadwaysurface. A direction of the flux vectors on the plane is characteristicwith a known displacement path of vehicle camera 105, and in this casecorresponds to the plane estimation. A comparison of the calibratedversion of the flux vectors, previously referred to as referencevectors, which according to this exemplary embodiment is stored in amemory, to the presently ascertained flux vectors shows a deviationduring decalibration. This deviation may be geometrically determined inall three solid angles and be algorithmically corrected. This takesplace independently for rear and side cameras by device 100. From thethree camera corrections, the position of vehicle 100 to the plane isinferred, and proceeding therefrom the correction of the front camera isalso carried out. As an alternative to the plane estimation stored inthe memory, it is also possible to measure/ascertain the displacementpath of the door/the mirror/the tailgate via the installed adjustingmotor, and thus to calculate a setpoint plane estimation in every image.The respective present plane estimation from the image data per imagemay then be compared thereto, and the correction may be calculated. Viathe multitude of images and the two displacement paths, folding in andfolding out, a sufficient robustness of the plane estimation isachieved.

Since a method proposed by this device 100 only functions correctly whena visual range illuminated by vehicle camera 105 is horizontal tovehicle 100, device 100 is furthermore configured to receive aninclination signal from an interface to an inclination sensor of vehicle100. Calibration parameter 315 is not set hereafter when the receivedinclination signal indicates an inclination of vehicle 100. In this way,it is possible to detect via customarily installed inclination sensorswhen vehicle 100 stands with at least one wheel on an inclined surface.In this case, the calibration is simply discarded. A plausibility checkvia inclination sensors also fails when vehicle 100 stands directly nextto an inclined plane, e.g., a levee. In this case, the old calibrationis resorted to. This presupposes an identification of the faultycalibration.

FIG. 4 shows a flow chart of a method 400 for calibrating a camera of avehicle according to one exemplary embodiment. This may be a method 400which is executable by the device described based on FIG. 3.

Method 400 includes at least one step 405 of reading in and one step 410of setting. In step 405 of reading in, at least one first camera imageand one second camera image are read in, which represent images recordedby at least the vehicle camera during a camera movement of the vehiclecamera at a standstill of the vehicle. In step 410 of setting, acalibration parameter for calibrating at least the vehicle camera isset, using the first camera image and the second camera image.

The configurations of method 400 described hereafter are optional:

According to this exemplary embodiment, in step 405 of reading in, amultitude of camera images are read in, which represent images recordedby the vehicle camera situated in the area of an exterior mirror and/ora vehicle door and/or a tailgate of the vehicle.

According to this exemplary embodiment, in step 405 of reading in, thecamera movement is read in via the multitude of the images, whichrepresents a displacement path of at least the vehicle camera caused byfolding in and/or folding out the exterior mirror of the vehicle and/orby opening and/or closing the vehicle door and/or by opening and/orclosing the tailgate of the vehicle.

According to this exemplary embodiment, step 410 of setting is carriedout since a vehicle movement signal is read in, which indicates thestandstill of the vehicle.

Optionally, method 400 furthermore includes a step 415 of determining, astep 420 of receiving, a step 425 of ascertaining, a step 430 ofcomparing, and a step 435 of further receiving.

In step 415 of determining, a flux vector is determined using the firstcamera image and the second camera image, the calibration parameterbeing set using the flux vector in step 410 of setting. According tothis exemplary embodiment, in step 415 of determining, the flux vectormay be determined using a road surface spot depicted in the first cameraimage and the road surface spot depicted in the second camera image.

In step 420 of receiving, a predetermined reference vector is received.According to an alternative exemplary embodiment, method 400, inaddition or as an alternative to step 420 of receiving, includes a step425 of ascertaining, in which a displacement path representing thecamera movement is ascertained, using an actuating signal of anadjusting motor for effectuating the camera movement.

In step 430 of comparing, the flux vector is compared to the referencevector, in step 410 of setting the calibration parameter being set,using a comparison result of step 430 of comparing.

In step 435 of further receiving, an inclination signal from aninterface to an inclination sensor of the vehicle is received, step 410of setting not being carried out when the inclination signal indicatesan inclination of the vehicle.

The method steps introduced here may be carried out repeatedly and in adifferent order than the one described.

FIG. 5 shows a functional block diagram of a device 300 for calibratinga vehicle camera 105 of a vehicle according to one exemplary embodiment.This may be device 300 described in FIG. 3, which is configured to carryout the method described in FIG. 4. Vehicle camera 105 may be one ofvehicle cameras 105 on the vehicle described based on one of the FIGS. 1through 3.

According to this exemplary embodiment, device 300 includes a read-inunit 500, a determination unit 505, a comparison unit 510 and a settingunit 515.

According to this exemplary embodiment, vehicle camera 105 is situatedon side door 205 of the vehicle and/or in an area of a motor of a mirrorof the vehicle. Read-in unit 500 is configured to carry out an imagetransfer from vehicle camera 105, i.e., to read in at least first cameraimage 305 and second camera image 310, which represent images recordedduring the camera movement of vehicle camera 105 at a standstill of thevehicle. Determination unit 505 is configured to determine flux vector523, using at least first camera image 305 and second camera image 310,and according to this exemplary embodiment also to carry out a planeestimation. Comparison unit 510 is configured to receive predeterminedreference vector 525, which represents a further flux vector or a fluximage of the calibrated system in a memory. According to this exemplaryembodiment, reference vector 525 has been ascertained using the knowndisplacement path of side door 205, or according to the alternativeexemplary embodiment using that of the mirror or of the tailgate.According to an alternative exemplary embodiment, reference vector 525may also be stored in device 300. Furthermore, comparison unit 510 isconfigured to compare flux vector 523 to reference vector 525. Settingunit 515 is configured to set calibration parameter 315 for calibratingat least vehicle camera 105. According to this exemplary embodiment,setting unit 515 is configured to set calibration parameter 315, using aresult of the comparison of comparison unit 510. According to thisexemplary embodiment, setting unit 515 is configured to calibrate atleast vehicle camera 105 and/or at least one further vehicle camera 105of the vehicle by setting calibration parameter 315; this process mayalso be referred to as an algorithmic correction. The at least onevehicle camera 105 is thereupon extrinsically calibrated.

If one exemplary embodiment includes an “and/or” linkage between a firstfeature and a second feature, this should be read in such a way that theexemplary embodiment according to one specific embodiment includes boththe first feature and the second feature, and according to an additionalspecific embodiment includes either only the first feature or only thesecond feature.

What is claimed is:
 1. A method for calibrating a vehicle camera of avehicle, the method comprising: reading in a first camera image and asecond camera image, which represent images recorded by at least thevehicle camera during a camera movement of the vehicle camera at astandstill of the vehicle; and setting a calibration parameter forcalibrating at least the vehicle camera using the first camera image andthe second camera image.
 2. The method of claim 1, further comprising:determining a flux vector using the first camera image and the secondcamera image, in the task of setting, wherein the calibration parameteris set using the flux vector.
 3. The method of claim 2, furthercomprising: receiving a predetermined reference vector; and comparingthe flux vector to the reference vector; wherein in the setting, thecalibration parameter is set using a comparison result of the comparing.4. The method of claim 2, wherein in the determining, the flux vector isdetermined using a road surface spot depicted in the first camera imageand the road surface spot depicted in the second camera image.
 5. Themethod of claim 1, further comprising: ascertaining a displacement pathrepresenting the camera movement using an actuating signal of anadjusting motor for effectuating the camera movement.
 6. The method ofclaim 1, wherein the setting is performed when a vehicle movement signalis read in, which indicates the standstill of the vehicle.
 7. The methodof claim 1, wherein in the reading in, camera images are read in whichrepresent images recorded by the vehicle camera situated in the area ofan exterior mirror, a vehicle door, and/or a tailgate of the vehicle. 8.The method of claim 1, wherein in the reading in, the camera movementrepresents a displacement path of at least the vehicle camera caused byfolding in and/or folding out an exterior mirror of the vehicle, and/orby opening and/or closing a vehicle door, and/or by opening and/orclosing a tailgate of the vehicle.
 9. The method of claim 1, furthercomprising: receiving an inclination signal from an interface to aninclination sensor of the vehicle; wherein the setting is not performedwhen the inclination signal indicates an inclination of the vehicle. 10.A device, comprising: a processing unit configured to perform thefollowing: reading in a first camera image and a second camera image,which represent images recorded by at least the vehicle camera during acamera movement of the vehicle camera at a standstill of the vehicle;and setting a calibration parameter for calibrating at least the vehiclecamera using the first camera image and the second camera image.
 11. Anon-transitory computer readable medium having a computer program, whichis executable by a processor, comprising: a program code arrangementhaving program code for for calibrating a vehicle camera of a vehicle,by performing the following: reading in a first camera image and asecond camera image, which represent images recorded by at least thevehicle camera during a camera movement of the vehicle camera at astandstill of the vehicle; and setting a calibration parameter forcalibrating at least the vehicle camera using the first camera image andthe second camera image.
 12. The computer readable medium of claim 11,further comprising: determining a flux vector using the first cameraimage and the second camera image, in the task of setting, wherein thecalibration parameter is set using the flux vector.